jkur
/
fc_lasercladding_wb
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Create .src with params from LaserProgram incl. sim

master
Jörg Kurlbaum 3 years ago
parent
17000e9d28
commit
f3bff01430
3 changed files with 93 additions and 34 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 8
      freecad/LaserCladdingWorkbench/commands.py
  2. 106
      freecad/LaserCladdingWorkbench/kuka.py
  3. 9
      freecad/LaserCladdingWorkbench/program.py

8
freecad/LaserCladdingWorkbench/commands.py
Unescape View File

@ -121,6 +121,13 @@ class LCSaveProg(): @@ -121,6 +121,13 @@ class LCSaveProg():
c = App.ActiveDocument.getObject("LaserProgram")
pads = c.Group
prog = Kuka_Prog()
prog.set_baseorigin(c.base_reference)
prog.set_tool(c.rob_tool)
prog.set_base(c.rob_base)
prog.set_velocity(c.laser_feedrate, c.laser_speed)
prog.set_laser_power(c.laser_power)
prog.set_laser_out(c.laser_real_out)
prog.set_simulation(c.simulation)
for pad in pads:
# one pad with contours and hatchlines
@ -151,7 +158,6 @@ class LCSaveProg(): @@ -151,7 +158,6 @@ class LCSaveProg():
line.append(pose)
prog.append_hatchline(line, progpart.pathtype)
prog.set_base(c.base_reference)
prog.save_prog(c.progpath)
App.ActiveDocument.recompute()

106
freecad/LaserCladdingWorkbench/kuka.py
Unescape View File

@ -43,10 +43,47 @@ class Kuka_Prog: @@ -43,10 +43,47 @@ class Kuka_Prog:
def __init__(self):
self.contour_path_list = []
self.hatchlines_list = []
self.base = (0,0,0)
def set_base(self, vec):
self.base = (vec.x, vec.y, vec.z)
self.baseorigin = (0,0,0)
self.tool = 6
self.base = 6
self.vproc = 0.023
self.vmax = 0.15
self.laser_power = 0.4
self.laser_out = 3
self.laser_pilot_out = 4 # default is pilot laser
self.use_laser_out = self.laser_pilot_out
self.inert_gas_out = 9
self.powder_out = 7
self.simulation = True
def set_baseorigin(self, vec):
self.baseorigin = (vec.x, vec.y, vec.z)
def set_tool(self, tool):
self.tool = tool
def set_base(self, base):
self.base = base
def set_velocity(self, vproc, vmax):
self.vproc = vproc
self.vmax = vmax
def set_laser_power(self, power):
self.laser_power = power
def set_laser_out(self, laser_output):
self.laser_out = laser_output
def set_laser_pilot_out(self, laser_pilot_out):
self.laser_pilot_out = laser_pilot_out
def set_simulation(self, sim):
self.simulation = sim
if not self.simulation:
self.use_laser_out = self.laser_out
else:
self.use_laser_out = self.laser_pilot_out
def append_contour(self, poses, segmenttype = 'LIN'):
self.contour_path_list.append((poses, segmenttype))
@ -108,49 +145,56 @@ class Kuka_Prog: @@ -108,49 +145,56 @@ class Kuka_Prog:
srcfile.write(";- "+ time.asctime()+"\n\n")
# defining world and base
srcfile.write("E6POS startp\n")
srcfile.write("E6POS point1\n")
# srcfile.write("DECL E6AXIS xp1={A1 -1.9, A2 -105.76, A3 79.97, A4 178.83, A5 -20.3, A6 -4.37, E1 -90, E2 0}\n")
srcfile.write(";------------- definitions ------------\n")
srcfile.write("EXT BAS (BAS_COMMAND :IN,REAL :IN ) ;set base to World\n")
srcfile.write("BAS (#INITMOV,0 ) ;Initialicing the defaults for Vel and so on \n\n")
srcfile.write("BAS (#TOOL,6) ;Initialicing the defaults for Vel and so on \n\n")
srcfile.write("BAS (#BASE,2) ;Initialicing the defaults for Vel and so on \n\n")
#srcfile.write(ptp_fold)
srcfile.write("BAS (#TOOL,%d) ;Initialicing the defaults for Vel and so on \n\n" % self.tool)
srcfile.write("BAS (#BASE,%d) ;Initialicing the defaults for Vel and so on \n\n" % self.base)
srcfile.write("PTP {A1 -33.31, A2 -104.71, A3 114.60, A4 282.66, A5 -39.21, A6 -104.87, E1 -90, E2 1.0}\n")
srcfile.write("\n;------------- main part ------------\n")
srcfile.write("startp=$POS_ACT\n")
#V = w.Velocity / 1000.0 # from mm/s to m/s
V_prozess = 0.0225
V_max = 0.15
CDIS = 2.3
CVEL = 95.0
LASERPOWER = 0.4
srcfile.write("$VEL.CP = %f ; m/s ; m/s \n"%V_max)
srcfile.write("$VEL.CP = %f ; m/s ; m/s \n" % self.vmax)
srcfile.write("$APO.CDIS = %f ; mm \n" % CDIS)
srcfile.write("$APO.CVEL = %f ; percent \n" % CVEL)
srcfile.write("$ANOUT[1] = %f ; \n"%LASERPOWER)
srcfile.write("$OUT[7] = TRUE ; \n")
srcfile.write("$OUT[9] = TRUE ; \n")
srcfile.write("LIN startp:{X -100.0, Y 0.0, Z 0.0, A 0.0000, B 0.0000, C 0.0000, E1 0.0000, E2 0.0000} C_VEL; GENERATED\n")
srcfile.write("WAIT SEC 10.0\n")
srcfile.write("$ANOUT[1] = %f ; \n" % self.laser_power)
if not self.simulation:
srcfile.write("$OUT[%d] = TRUE ; \n" % self.powder_out)
srcfile.write("$OUT[%d] = TRUE ; \n" % self.inert_gas_out)
else:
srcfile.write("$OUT[%d] = FALSE ; \n" % self.powder_out)
srcfile.write("$OUT[%d] = FALSE ; \n" % self.inert_gas_out)
srcfile.write("point1 = {X -110.0, Y 0.0, Z 0.0, A 0.0000, B 0.0000, C 0.0000, E1 0.0000, E2 0.0000}\n")
srcfile.write("point1.S = startp.S\n")
srcfile.write("point1.T = startp.T\n")
srcfile.write("LIN point1 C_VEL; GENERATED\n")
srcfile.write("WAIT SEC 7.0\n")
srcfile.write(";- Contourpaths\n")
for (poses, seg_type) in self.contour_path_list:
# start laser code
srcfile.write("$VEL.CP = %f ; m/s ; m/s \n"%V_prozess)
srcfile.write("$VEL.CP = %f ; m/s ; m/s \n" % self.vproc)
srcfile.write(";- Turn on Laser\n")
if seg_type == 'LIN':
srcfile.write("LIN startp:{} C_VEL; GENERATED\n".format(poses[0].translate_with(self.base).to_string()))
srcfile.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[3]=True\n" ) ## Einschalten
srcfile.write("LIN {} C_VEL; GENERATED\n".format(poses[0].translate_with(self.baseorigin).to_string()))
srcfile.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[%d]=True\n" % self.use_laser_out)
for pose in poses[1:]:
srcfile.write("LIN startp:{} C_VEL; GENERATED\n".format(pose.translate_with(self.base).to_string()))
srcfile.write("LIN {} C_VEL; GENERATED\n".format(pose.translate_with(self.baseorigin).to_string()))
if seg_type == 'SPLINE':
srcfile.write("SPLINE\n")
for pose in poses:
srcfile.write(" SPL startp:{} ; GENERATED\n".format(pose.translate_with(self.base).to_string()))
srcfile.write(" SPL {} ; GENERATED\n".format(pose.translate_with(self.baseorigin).to_string()))
srcfile.write("ENDSPLINE\n")
srcfile.write(";- Turn off Laser\n")
srcfile.write("$OUT[3] = FALSE\n")
srcfile.write("$OUT[%d] = FALSE\n" % self.use_laser_out)
# end of subroutine
srcfile.write(";- Hatchlines\n")
@ -158,16 +202,16 @@ class Kuka_Prog: @@ -158,16 +202,16 @@ class Kuka_Prog:
# start laser code
srcfile.write(";- Hatchline\n")
if seg_type == 'LIN':
srcfile.write("$VEL.CP = %f ; m/s ; m/s \n"%V_max)
srcfile.write("LIN startp:{} C_VEL; GENERATED\n".format(line[0].translate_with(self.base).to_string()))
srcfile.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[3]=True\n" ) ## Einschalten
srcfile.write("$VEL.CP = %f ; m/s ; m/s \n"%V_prozess)
srcfile.write("LIN startp:{} C_VEL; GENERATED\n".format(line[1].translate_with(self.base).to_string()))
srcfile.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[3]=FALSE\n") ## Ausschalten
srcfile.write("$VEL.CP = %f ; m/s ; m/s \n" % self.vmax)
srcfile.write("LIN {} C_VEL; GENERATED\n".format(line[0].translate_with(self.baseorigin).to_string()))
srcfile.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[%d]=True\n" % self.use_laser_out)
srcfile.write("$VEL.CP = %f ; m/s ; m/s \n" % self.vproc)
srcfile.write("LIN {} C_VEL; GENERATED\n".format(line[1].translate_with(self.baseorigin).to_string()))
srcfile.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[%d]=FALSE\n" % self.use_laser_out)
# end of subroutine
srcfile.write("$OUT[3] = FALSE\n")
srcfile.write("$OUT[7] = FALSE ; \n")
srcfile.write("$OUT[9] = FALSE ; \n")
srcfile.write("$OUT[%d] = FALSE\n" % self.use_laser_out)
srcfile.write("$OUT[%d] = FALSE\n" % self.powder_out)
srcfile.write("$OUT[%d] = FALSE\n" % self.inert_gas_out)
srcfile.write("\n;------------- end ------------\n")
srcfile.write("END \n\n")
srcfile.close()

9
freecad/LaserCladdingWorkbench/program.py
Unescape View File

@ -34,6 +34,15 @@ class LaserProgram: @@ -34,6 +34,15 @@ class LaserProgram:
obj.addProperty("App::PropertyFloat", "laser_speed", "Laser Parameter", "Velocity reaching (m/s)")
obj.laser_speed = 0.15
obj.addProperty("App::PropertyInteger", "rob_tool", "Roboter Parameter", "Tool")
obj.rob_tool = 6
obj.addProperty("App::PropertyInteger", "rob_base", "Roboter Parameter", "Base")
obj.rob_base = 6
obj.addProperty("App::PropertyBool", "simulation", "Roboter Parameter", "Use Simulation")
obj.simulation = True
obj.addProperty("App::PropertyFile", "progpath", "Export Parameters", "Where to store the Program")
obj.progpath = "/home/jk/test_export_workbench.src"

Write Preview
Loading…
Cancel
Save